diff --git a/CHANGELOG.md b/CHANGELOG.md
index c977d7db05..3247893e22 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [10.1.0] - 2024-01-09
+
 ### Added
 
 - CMake: Permit to explicitly specify Python installation directory by setting the `IDYNTREE_PYTHON_INSTALL_DIR` CMake variable (https://github.com/robotology/idyntree/pull/1124).
@@ -19,6 +21,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Fixed compilation of pybind11 bindings (https://github.com/robotology/idyntree/pull/1128).
 - Fixed support for handling correctly STL files that end with `.STL` in iDynTree Irrlicht-based visualizer (https://github.com/robotology/idyntree/pull/1136).
 - Fixed handling meshes with vertix count larger than a limit set in Irrlicht used by idyntree-yarp-visualizer (https://github.com/robotology/idyntree/pull/1139)
+
+
 ## [10.0.0] - 2023-10-16
 
 ### Added
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 80daee5236..70665bebf2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 10.0.0
+project(iDynTree VERSION 10.1.0
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used